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    • 2. 发明授权
    • Robotic end effector
    • 机器人末端执行器
    • US5366340A
    • 1994-11-22
    • US937073
    • 1992-08-28
    • Thong H. VoWilliam A. Hammond
    • Thong H. VoWilliam A. Hammond
    • B25J15/02B66C1/54
    • B25J15/02B66C1/54
    • An end effector for a robotic assembly for acquiring and manipulating articles having a substantially cylindrical aperture therein. The end effector has a cylindrical gripping portion having radially expandable fingers and a collar portion adapted to bear on the article. When the fingers are inserted into the aperture in the article and expanded the object is gripped over a large portion of the circumference of the aperture. The article is then translated from a vertical to horizontal position. The gripping portion is provided with a flat portion to allow the article to be contacted against a stop for easy withdrawal of the fingers. The entire cylindrical gripping portion is flexibly mounted to the robotic assembly to allow acquisition of an article presented to the gripping portion of the end effector in an off vertical alignment.
    • 用于机器人组件的端部执行器,用于获取和操纵其中具有大致圆柱形孔的物品。 端部执行器具有带径向伸缩的指状物的圆柱形夹持部分和适于承受物品的套环部分。 当手指插入制品中的孔中并膨胀时,物体被夹在孔的圆周的大部分上。 然后将文章从垂直位置翻译成水平位置。 抓握部分设置有平坦部分,以允许制品与止动件接触以便于手指的撤回。 整个圆柱形夹持部分被柔性地安装到机器人组件,以允许以离开的垂直对准获取呈现在末端执行器的抓握部分的物品。